I would actually say Witcher 3 is good for that. There’s like 100 smaller quests you can do in 5-10 minutes each. Some of the main storyline quests (which are marked as such) might take 20 or 30 minutes when you’re ready for them. It also has imo one of the best quest tracking systems I’ve seen, as well as best inventory system (sorting, yay) so you don’t have to remember everything after time away from playing.

Dark Souls games can also be played that way - from one bonfire (checkpoint) to the next is usually around 5 to 10 minutes depending on how you play.